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I am going to assume, that you are refering to the rear brakes.
There should be a small access hole in the backing plate for the adjustment .
By turning the star wheel inside of the drum, will either bring the shoes into contact with the drum ,or back them right-off,depending which side of the car you are working on. Good luck

The hand brake hardly ever needs ajusting. See your hand brake mechanincly spreads your rear brake shose inside the drum. Therefore just replace your rear shoes and make sure there ajusted right and you should have no more problems with that part of your car. PS make sure you put some 3M paste on the contact points on your backing plate to avoid a squeak in the near future.

Yes you do, but chanses are the ajusters are froze up. The best thing to do isto get a pry bar between the backing plate and drumb and pry and hit the other side with a hammer, or maybe if you can pry it out far enought to pop the ajuster out, or cut the heads off the pins on the back side of backing plate that hold the shoes to backing plate.

I asked the mechanic when I got the new tires put on and he said this could be 'fixed' by repacking the bearings. This is plausible if one or more are dragging and causing the sensors to detect too much variation in the speeds.

Since the new tires have been on, only a few errors and not any lately even with a sharp turn. The temperature seems to have an effect.

Rotate the automatic adjuster starwheel enough so both shoes move out far enough to be free of the wheel cylinder boots.

Disconnect the parking brake cable from the actuating lever.

Remove the lower shoe to shoe spring.

With the shoes held together by the upper shoe to shoe spring, remove them from the backing plate.
Kelsey Hayes rear brake assembly (left side shown)Exploded view of the drum brake assembly—2004 model shown